CN112004760A - Receiving classification device and receiving classification method - Google Patents

Abstract

When the 1 st retainer (40) and the 2 nd retainer (42) are located at a pair of intermediate positions (MP), the conveyor (38) is erected on the 1 st retainer (40) and the 2 nd retainer (42) and traverses the working area (24), and the goods (22) are located between the conveyor (38) and the selected 1 receiving area (54). The 1 st retainer (40) and the 2 nd retainer (42) approach each other when approaching the pair of Final Positions (FP) from the pair of intermediate positions (MP). The conveyor belt (38) pulls the goods (22) in the direction of the selected 1 receiving area (54) by being pulled back to the 1 st and 2 nd holders (40, 42) by the retractor (44).

Description

Receiving classification device and receiving classification method

technical field

The invention relates to a receiving classification device and a receiving classification method.

Background technique

In recent years, facilities called courier boxes or courier lockers that can receive goods even when the recipient is not at home have become widespread. In addition to being installed in apartments, express boxes are also installed in public places such as train stations, and are used by an unspecified number of users. Recently, unmanned delivery using unmanned aerial vehicles (unmanned aircraft) is being studied (Patent Documents 1 and 2).

prior art literature

Patent Literature

Patent Document 1: Japanese Patent No. 6201092

Patent Document 2: Japanese Patent Publication No. 2017-517466

SUMMARY OF THE INVENTION

[Problems to be Solved by Invention]

In order to utilize multiple drones to receive multiple shipments or store multiple shipments at multiple recipients, there are inefficiencies or complex mechanisms are required.

An object of the present invention is to realize the receiving and sorting of a plurality of goods with a simple mechanism.

[Technical means to solve the problem]

(1) The receiving and sorting apparatus of the present invention is characterized by having: a stage including a work area for receiving and sorting goods; a conveyor belt capable of moving across the work area to push the goods; a first The holder and the second holder are movable so that the distance between them is varied and the conveyor belt is installed; the moving path guides the movement of the first holder and the second holder along the periphery of the work area. movement; an actuator that moves the first holder and the second holder; and a retractor that pulls the conveyor belt back to the first holder and the second holder; the The periphery of the work area includes a plurality of delivery areas for delivering the goods outside the work area, and the movement path includes a plurality of receiving areas adjacent to the plurality of delivery areas, A pair of final positions at which the first holder and the second holder are respectively located when the delivery of the goods is completed, and the first holder and the second holder respectively during the delivery of the goods a pair of halfway positions located, the pair of final positions along the movement path, on both sides of the selected one of the plurality of receiving areas, the pair of halfway positions along the movement The path is further apart from each other than the pair of final positions, and when the first holder and the second holder are located at the pair of midway positions, the conveyor is spanned over the first holder and the second holder. A second holder traverses the work area, the goods are located between the conveyor belt and the selected one receiving area, and the first holder and the second holder are located from the one When the pair of halfway positions approach the pair of final positions, they approach each other, and the conveyor belt is pulled back to the first holder and the second holder by the retractor, thereby pulling the goods toward the destination. Describe the direction of the selected 1 receiving area.

According to the present invention, the receipt and sorting of a plurality of goods can be realized by a simple mechanism using a conveyor belt.

(2) The receiving sorting device according to (1), wherein the pair of midway positions may be located at the longest linear distance across the work area among the plurality of positions on the moving path. 2 locations away.

(3) The receiving and sorting apparatus according to (1) or (2), wherein the actuator may prevent the first holder and the second holder from passing through the The mode of the selected one receiving area is moved from the pair of midway positions to the pair of final positions.

(4) The receiving sorting apparatus according to any one of (1) to (3) may be characterized in that the pair of final positions are aligned with the selected 1 along the moving path. adjacent receiving areas.

(5) The receiving sorting device according to any one of (1) to (4) may be characterized in that, the pair of final positions is along the moving path, interposing the selected 1 receiving area without intervening the position of any other area in the plurality of receiving areas.

(6) The receiving sorting apparatus according to any one of (1) to (5), wherein the moving path includes the first holder and the A pair of start positions at which the second holders are respectively located, the pair of start positions are closer to each other along the moving path than the pair of midway positions, the pair of start positions and the pair of start positions are The final position is different.

(7) The receiving sorting device according to (6), wherein the moving path includes the distance between the first holder and the second holder, respectively, before starting the sorting of the goods. a pair of initial positions, the actuator moves the first holder and the second holder from the pair of initial positions when the pair of initial positions coincides with the pair of final positions Move to the pair of start positions.

(8) may also be the receiving sorting device according to (7), wherein the moving path includes an initial area connecting the pair of initial positions in a nearer direction along the moving path, so The actuator moves the first holder and the second holder from the pair of initial positions to the start of the pair when the initial area overlaps the selected one receiving area Location.

(9) The receipt sorting device according to (8), wherein the first holder and the second holder are moved from the pair of initial positions to the pair of start positions The direction is the same direction along the moving path.

(10) The receiving and sorting apparatus according to any one of (1) to (9), further comprising a storage that is adjacent to the stage and has a space adjacent to the plurality of delivery A plurality of storage spaces corresponding to the zones respectively.

(11) The method for sorting goods according to the present invention is characterized by comprising the steps of: unloading the goods to a stage including a work area; moving to push the goods; and using the conveyor belt to send the goods out from one of a plurality of delivery areas located on the periphery of the work area; the first holder and the second The holder is guided and movable by a movement path along the peripheral edge of the work area, and the conveyor is moved by moving the first holder and the second holder, and the movement path includes A plurality of receiving areas adjacent to each of the plurality of delivery areas, a pair of final positions at which the first holder and the second holder are respectively located when the delivery of the goods is completed, and a pair of final positions where the goods are A pair of midway positions where the first holder and the second holder are respectively located in the middle of sending out, and the pair of final positions are located along the moving path and are located in the selected 1st of the plurality of receiving areas. On both sides of each area, the pair of midway positions along the moving path are further apart from each other than the pair of final positions, and the first holder and the second holder are located in the pair midway. In the position, the conveyor belt is erected on the first holder and the second holder and traverses the work area, the goods are located between the conveyor belt and the selected one receiving area, so The first holder and the second holder approach each other when approaching the pair of final positions from the pair of midway positions, and the conveyor belt is pulled back to the first holder and the first holder by the pair of final positions. 2 Holders to pull the cargo in the direction of the selected 1 receiving area.

According to the present invention, the receipt and sorting of a plurality of goods can be realized by a simple mechanism using a conveyor belt.

(12) The method for sorting goods according to (11), wherein the pair of midway positions is located at the longest linear distance across the work area among the plurality of positions on the moving path. 2 locations away.

(13) The receiving sorting method according to (11) or (12), wherein the first holder and the second holder do not pass through the selected one. The receiving area is moved from the pair of midway positions to the pair of final positions.

(14) may also be the receiving classification method according to any one of (11) to (13), characterized in that the pair of final positions are aligned with the selected 1 along the moving path. adjacent receiving areas.

(15) may also be the receiving classification method according to any one of (11) to (14), wherein the pair of final positions is along the moving path, intervening the selected 1 receiving area without intervening the position of any other area in the plurality of receiving areas.

(16) The received sorting method according to any one of (11) to (15), wherein the movement path includes the first holder and the A pair of start positions at which the second holders are respectively located, the pair of start positions are closer to each other along the moving path than the pair of midway positions, the pair of start positions and the pair of start positions are The final position is different.

(17) The received sorting method according to (16), wherein the movement path includes the distance between the first holder and the second holder, respectively, before the sorting of the goods is started. A pair of initial positions are located, and when the pair of initial positions coincides with the pair of final positions, the first holder and the second holder are moved from the pair of initial positions to the one to the starting position.

(18) may also be the receiving classification method according to (17), wherein the moving path includes an initial area connecting the pair of initial positions in a nearer direction along the moving path, and When the initial area overlaps with the selected one receiving area, the first holder and the second holder are moved from the pair of initial positions to the pair of start positions.

(19) The receiving sorting method according to (18), wherein the first holder and the second holder are moved from the pair of initial positions to the pair of start positions The direction is the same direction along the moving path.

Description of drawings

FIG. 1 is a plan view of the receipt sorting apparatus according to the embodiment.

FIG. 2 is a cross-sectional view taken along the line II-II of the receipt sorting apparatus shown in FIG. 1 .

FIG. 3 is a diagram showing a storage of a modified example.

FIG. 4 is a diagram for explaining the details of the movement path.

FIG. 5 is a flowchart for explaining the control of the received sorting device or the received sorting method.

6 is a view showing a first holder and a second holder located at a pair of final positions.

Detailed ways

Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention can be implemented in various forms without departing from the gist thereof, and is not to be construed as being limited to the descriptions of the embodiments exemplified below.

FIG. 1 is a plan view of the receipt sorting apparatus according to the embodiment. FIG. 2 is a cross-sectional view taken along the line II-II of the receipt sorting apparatus shown in FIG. 1 . The received sorting apparatus has a stage 20 . The stage 20 includes a work area 24 for receiving and sorting the goods 22 . The work area 24 is used for unloading and sliding movement of the cargo 22 .

The cargo 22 is conveyed by, for example, an unmanned aircraft (not shown). The unmanned aircraft is an aircraft that does not carry a human, for example, it may be a drone powered by a battery, or it may be driven by an engine. The unmanned aircraft includes a motor or a battery for rotating a propeller, and includes a control unit, a storage unit, a communication unit, and a sensor unit.

The cargo 22 can be unloaded from the unmanned aircraft that has landed on the platform 20, and can also be unloaded from the unmanned aircraft that has not landed and is suspended. For example, the cargo 22 may be hoisted by wire from the unmanned aircraft and unloaded.

The periphery of the work area 24 includes a plurality of delivery areas 26 for delivering the goods 22 out of the work area 24 . As shown in FIG. 2 , the plurality of delivery areas 26 are inclined so as to descend in the outward direction, whereby the cargo 22 can be slid in the outward direction.

The received sorting apparatus has a storage box 28 . The storage box 28 is adjacent to the stage 20 (periphery of the work area 24). The storage box 28 has a plurality of storage spaces 30 respectively corresponding to the plurality of delivery areas 26 .

The storage box 28 is arranged around the stage 20 . The storage box 28 may seamlessly surround the stage 20 in order to prevent human intrusion. Walls are provided in the storage box 28 as needed. The storage box 28 has a plurality of storage spaces 30 . The plurality of storage spaces 30 are physically separated from each other adjacent to each other. The plurality of storage spaces 30 may include storage spaces 30 of different sizes. The plurality of storage spaces 30 are arranged in the horizontal direction, and may also be arranged in the vertical direction.

FIG. 3 is a diagram showing a storage 128 of a modified example. In a modified example, the storage compartment 128 is movable and not fixed to the stage 20 . For example, a delivery mobile device including a plurality of storage spaces 130 includes a storage box 128 and may be adjacent to the stage 20 for storing the cargo 22 . The delivery mobile machine may be an unmanned mobile machine (robot) that can move unmanned, or a manned vehicle (delivery truck). Each storage space 130 has a carry-in port 132 that can be adjacent to the outer edge of the stage 20 . Each storage space 130 has a take-out port 134 on the opposite side of the carry-in port 132 . The extraction port 134 has a door 136 which can be opened and closed. The take-out port 134 can be locked and unlocked. The take-out port 134 is locked when the cargo 22 is accommodated.

As shown in FIGS. 1 and 2 , the receipt sorting apparatus has a conveyor belt 38 . The conveyor belt 38 includes a V-shaped conveyor belt, a flat conveyor belt and a circular conveyor belt, and its cross-sectional shape is not limited. The conveyor belt 38 may contain any one of fiber, resin, or metal, but at least has the flexibility to be able to bend. The conveyor belt 38 is capable of pushing (or pulling) the cargo 22 by moving across the work area 24 .

The conveyor belt 38 is spanned between the first holder 40 and the second holder 42 . Both the first holder 40 and the second holder 42 can rotate independently so that the extraction port (not shown) of the conveyor belt 38 may face or not face each other. The conveyor belt 38 is pulled back to the first holder 40 and the second holder 42 by the retractor 44 shown in FIG. 2 . The retraction is, for example, winding, and the retractor 44 may be, for example, a winder such as a winch.

The retractor 44 is built in at least one of the first holder 40 and the second holder 42 . The retractor 44 may be built in the first holder 40 and the second holder 42, respectively, and the conveyor belt 38 may be wound from the first holder 40 and the second holder 42 at an equal speed, respectively.

The 1st holder 40 and the 2nd holder 42 can move so that the space|interval of each other may fluctuate. The movement of the first holder 40 and the second holder 42 is guided by the movement path 46 . The movement path 46 is along the periphery of the work area 24 . The first holder 40 and the second holder 42 are moved by the actuator 48 . In the example shown in FIG. 2 , the actuator 48 includes: a pinion 50 , a stepping motor or a servo motor (not shown) fixed to each of the first holder 40 and the second holder 42 ; A strip 52 is provided along the travel path 46 . The first holder 40 and the second holder 42 move along the rack 52 (moving path 46 ) by the rotation of the pinion 50 .

As shown in FIG. 1 , when the conveyor belt 38 is pulled back to the first holder 40 and the second holder 42 , the goods 22 can be pushed (pulled) in the direction of one of the selected delivery areas 26 . According to the present embodiment, receiving and sorting of the plurality of articles 22 can be realized by a simple mechanism using the conveyor belt 38 .

FIG. 4 is a diagram for explaining the details of the movement path 46 . The movement path 46 includes a plurality of receiving areas 54 adjacent to the plurality of sending areas 26 ( FIG. 1 ), respectively. The movement path 46 includes a plurality of positions 1 to 16 where the first holder 40 and the second holder 42 can stop.

[Final position FP/reception area 54]

As shown in FIG. 1 , the movement path 46 includes a pair of final positions FP at which the first holder 40 and the second holder 42 are respectively located when the delivery of the cargo 22 is completed. A pair of final positions FP are located on both sides of a selected one of the plurality of receiving areas 54 along the travel path 46 . A pair of final positions FP is adjacent to the selected one receiving area 54 along the movement path 46 . A pair of final positions FP is a position along the movement path 46 that interposes the selected one receiving area 54 and does not interpose any other area among the plurality of receiving areas 54 .

[Middle position MP]

As shown in FIG. 1 , the movement path 46 includes a pair of midway positions MP where the first holder 40 and the second holder 42 are located in the middle of the delivery of the cargo 22 . The pair of midway positions MP are further apart from each other along the movement path 46 than the pair of final positions FP. The pair of midway positions MP are located at two positions (eg, positions 6 and 14 ) at the longest linear distances across the work area 24 among the plurality of positions 1 to 16 ( FIG. 2 ) of the movement path 46 .

[Start Position SP]

The movement path 46 includes a pair of start positions SP ( FIG. 1 ) at which the first holder 40 and the second holder 42 are respectively located when the sorting of the cargo 22 is started. A pair of start positions SP is different from a pair of final positions FP. The pair of start positions SP are closer to each other than the pair of midway positions MP along the movement path 46 .

[Initial location IP/Initial area 56]

The movement path 46 includes a pair of initial positions IP where the first holder 40 and the second holder 42 are located before the sorting of the cargo 22 is started. In the example of FIG. 1, a pair of initial positions IP and a pair of start positions SP correspond. The movement path 46 includes an initial region 56 connecting a pair of initial positions IP in a closer direction along the movement path 46 .

FIG. 5 is a flowchart for explaining the control of the received sorting device or the received sorting method. In addition, various controls are performed by a control unit (not shown) included in the receipt sorting device, or a control device (not shown) that controls the receipt sorting device.

When the unloading of the conveyed cargo 22 is completed, the control of the receipt sorting device is started (S1). When control is started, a pair of initial positions IP is acquired (S2). When the actuator 48 includes a stepping motor or a servo motor (not shown), the positions of the first holder 40 and the second holder 42 are already stored in a memory (not shown), and additional detection is possible. A pair of programs for initial location IPs. The initial area 56 between them is determined corresponding to a pair of initial positions IP. Positions 1 and 2 shown in FIG. 4 are a pair of initial positions IP shown in FIG. 1 .

The information of which storage space 30 the article 22 is stored in is transmitted to the receipt sorting device by, for example, communication, and is stored in a memory (not shown). That is, one of the plurality of reception areas 54 is selected. Therefore, it is judged whether or not the initial area 56 overlaps with the selected one receiving area 54 (S3). This determination may include determination of whether or not the pair of initial positions IP matches the pair of final positions FP.

The positions 9 and 10 shown in FIG. 4 are a pair of final positions FP shown in FIG. 1 . In the example shown in FIG. 1 , a pair of initial positions IP (positions 1 and 2 in FIG. 4 ) does not coincide with a pair of final positions FP (positions 9 and 10 in FIG. 4 ). In this way, if the determination result is "NO", there is no need to change the initial position IP, and the initial position IP is set as the start position SP (S4). A pair of start positions SP is set so that the initial area 56 does not overlap with the selected one receiving area 54 .

If the judgment result is "Yes" as a modification example, the pair of initial positions IP is changed (S5). Specifically, it controls so that the 1st holder 40 and the 2nd holder 42 may move from a pair of initial position IP to another position. Here, the moving directions of the first holder 40 and the second holder 42 are respectively the same directions along the moving path 46 . It is determined whether or not the pair of initial areas 56 that have been changed overlap with the one receiving area 54 that has been selected in the same manner. This determination includes determination of whether or not the pair of initial positions IP that have been changed agree with the pair of final positions FP. Then, the change of the initial position IP is repeated until the determination result is "NO". In this way, the first holder 40 and the second holder 42 are controlled to move from the pair of initial positions IP to the pair of start positions SP.

The moving directions of the first holder 40 and the second holder 42 are determined (S6). The first holder 40 and the second holder 42 are moved from the pair of start positions SP to the pair of final positions FP ( S7 ). The moving directions of the first holder 40 and the second holder 42 are directions in which they approach each other when approaching the pair of final positions FP from the pair of intermediate positions MP. The moving direction of the first holder 40 and the second holder 42 is a direction that does not pass through the selected one receiving area 54 when moving from the pair of intermediate positions MP to the pair of final positions F.

Specifically, the difference between each of the pair of start positions SP and each of the pair of final positions FP is calculated, and the combination of positions with the smallest absolute value is specified. In the example of FIG. 1 , since the pair of start positions SP are positions 1 and 2 ( FIG. 4 ) and the pair of final positions FP are positions 9 and 10 ( FIG. 4 ), the combination of positions 2 and 9 is specified. Therefore, the moving direction of the second holder 42 is the direction from the position 2 to the position 9 . In addition, the moving direction of the first holder 40 is the opposite direction. When the direction is determined, control is performed to move the first holder 40 and the second holder 42 from the pair of start positions SP to the pair of final positions FP ( S7 ).

The conveyor belt 38 stretched over the first holder 40 and the second holder 42 moves across the work area 24 . When the first holder 40 and the second holder 42 are located at the pair of midway positions MP, the conveyor belt 38 is stretched over the first holder 40 and the second holder 42 and traverses the work area 24 . When the first holder 40 and the second holder 42 are located at the pair of midway positions MP, the goods 22 are located between the conveyor belt 38 and the selected one receiving area 54 .

FIG. 6 is a view showing the first holder 40 and the second holder 42 located at the pair of final positions FP. The conveyor belt 38 is not pulled back until the first holder 40 and the second holder 42 reach the pair of final positions FP. The conveyor belt 38 is pulled out from the first holder 40 and the second holder 42 to hook the cargo 22 .

The retractor 44 pulls the conveyor belt 38 back to the first holder 40 and the second holder 42 (S8). The cargo 22 is pulled in the direction of the selected one receiving area 54 (refer to FIG. 1 ). The goods 22 can be sent out from one of the plurality of delivery areas 26 located on the periphery of the work area 24 by the conveyor belt 38 . And the goods 22 can be accommodated in the storage space 30, and control is complete|finished (S9).

The control is performed for each unloading of the cargo 22 . That is, the first control is started with the unloading of the first cargo 22 as a trigger, and the second control is started when the unloading of the second cargo 22 is performed after the completion of the first control. The initial position acquired in the second control (step S2 ) may be the final position in the first control. Alternatively, the control for resetting the initial position (moving the first holder 40 and the second holder 42 to a predetermined initial position) may be performed after the first control is completed and before the second control is performed.

The present invention is not limited to the above-described embodiments, and various modifications can be made. For example, the configuration described in the embodiment can be replaced with a configuration that is substantially the same, a configuration that exhibits the same effect, or a configuration that can achieve the same purpose.

Claims (19)

1. A receiving and sorting device, comprising:

a carrier including a work area for receiving and classifying the cargo;

a conveyor belt capable of pushing the cargo by moving across the work area;

a 1 st holder and a 2 nd holder which are movable so as to vary an interval therebetween and on which the conveyor belt is mounted;

a movement path that guides movement of the 1 st holder and the 2 nd holder along a peripheral edge of the work area;

an actuator for moving the 1 st and 2 nd holders; and

a retractor that pulls the conveyor belt back to the 1 st and 2 nd holders;

the periphery of the work area includes a plurality of delivery areas for delivering the goods outside the work area,

the moving path includes a plurality of receiving areas adjacent to the plurality of delivery areas, a pair of final positions where the 1 st and 2 nd holders are located when the delivery of the load is completed, and a pair of intermediate positions where the 1 st and 2 nd holders are located during the delivery of the load,

the pair of final positions being located along the movement path on both sides of the selected 1 of the plurality of receiving areas,

the pair of halfway positions are spaced further apart from each other along the moving path than the pair of final positions,

the conveyor belt is erected on the 1 st and 2 nd holders and traverses the working area when the 1 st and 2 nd holders are located at the pair of halfway positions, the goods are located between the conveyor belt and the selected 1 receiving areas,

the 1 st holding member and the 2 nd holding member approach each other when approaching the pair of final positions from the pair of halfway positions,

the conveyor belt pulls the goods in the direction of the selected 1 receiving area by being pulled back to the 1 st and 2 nd holders by the retractor.

2. The pickup sorter of claim 1,

the pair of halfway positions are located at 2 positions farthest from a straight line crossing the working area among the plurality of positions of the moving path.

3. The pickup sorter of claim 1,

the actuator moves from the pair of halfway positions to the pair of final positions in such a manner that the 1 st holder and the 2 nd holder do not pass through the selected 1 receiving area.

4. The pickup sorter of claim 1,

the pair of final positions are adjacent to the selected 1 receiving areas along the moving path.

5. The pickup sorter of claim 1,

the pair of final positions are positions along the moving path that interpose the selected 1 receiving areas and do not interpose any other one of the plurality of receiving areas.

6. The pickup sort apparatus according to any one of claims 1 to 5,

the moving path includes a pair of start positions where the 1 st and 2 nd holders are respectively located at the time of starting the sorting of the goods,

the pair of start positions are closer to each other than the pair of halfway positions along the moving path,

the pair of start positions is different from the pair of end positions.

7. The pickup sort apparatus as recited in claim 6,

the moving path includes a pair of initial positions where the 1 st and 2 nd holders are respectively located before the sorting of the goods is started,

the actuator moves the 1 st and 2 nd holders from the pair of initial positions to the pair of start positions when the pair of initial positions coincide with the pair of final positions.

8. The pickup sort apparatus as recited in claim 7,

the movement path includes an initial region connecting the pair of initial positions in a closer direction along the movement path,

the actuator moves the 1 st and 2 nd holders from the pair of initial positions to the pair of starting positions when the initial region overlaps the selected 1 receiving region.

9. The pickup sort apparatus as recited in claim 8,

the direction in which the 1 st holder and the 2 nd holder move from the pair of initial positions to the pair of start positions is the same direction along the moving path.

10. The pickup sort apparatus according to any one of claims 1 to 5,

the carrying platform is provided with a plurality of carrying-out areas, and the carrying platform is provided with a plurality of carrying-out areas.

11. A method for sorting a received good, comprising the steps of:

unloading the goods to a carrier comprising a work area;

moving a conveyor belt mounted on the 1 st and 2 nd holders across the working area to push the goods; and

using the conveyor belt, the goods are sent out from 1 of a plurality of sending-out areas positioned at the periphery of the operation area;

the 1 st holder and the 2 nd holder are guided by a movement path along the peripheral edge of the working area and are movable,

by moving the 1 st and 2 nd holders while the conveyor belt moves,

the moving path includes a plurality of receiving areas adjacent to the plurality of delivery areas, a pair of final positions where the 1 st and 2 nd holders are located when the delivery of the load is completed, and a pair of intermediate positions where the 1 st and 2 nd holders are located during the delivery of the load,

the pair of final positions being located along the movement path on both sides of the selected 1 of the plurality of receiving areas,

the pair of halfway positions are spaced further apart from each other along the moving path than the pair of final positions,

the conveyor belt is erected on the 1 st and 2 nd holders and traverses the working area when the 1 st and 2 nd holders are located at the pair of halfway positions, the goods are located between the conveyor belt and the selected 1 receiving areas,

the 1 st holding member and the 2 nd holding member approach each other when approaching the pair of final positions from the pair of halfway positions,

the conveyor belt pulls the goods in the direction of the selected 1 receiving area by being pulled back to the 1 st and 2 nd holders.

12. The method of sorting a shipment according to claim 11,

the pair of halfway positions are located at 2 positions farthest from a straight line crossing the working area among the plurality of positions of the moving path.

13. The method of sorting a shipment according to claim 11,

moving from the pair of halfway positions to the pair of final positions in such a manner that the 1 st and 2 nd holders do not pass through the selected 1 receiving area.

14. The method of sorting a shipment according to claim 11,

the pair of final positions are adjacent to the selected 1 receiving areas along the moving path.

15. The method of sorting a shipment according to claim 11,

the pair of final positions are positions along the moving path that interpose the selected 1 receiving areas and do not interpose any other one of the plurality of receiving areas.

16. The method of sorting receipt according to any one of claims 11 to 15,

the moving path includes a pair of start positions where the 1 st and 2 nd holders are respectively located at the time of starting the sorting of the goods,

the pair of start positions are closer to each other than the pair of halfway positions along the moving path,

the pair of start positions is different from the pair of end positions.

17. The method of sorting a shipment according to claim 16,

the moving path includes a pair of initial positions where the 1 st and 2 nd holders are respectively located before the sorting of the goods is started,

moving the 1 st and 2 nd holders from the pair of initial positions to the pair of start positions when the pair of initial positions coincide with the pair of final positions.

18. The method of sorting a shipment according to claim 17,

the movement path includes an initial region connecting the pair of initial positions in a closer direction along the movement path,

moving the 1 st and 2 nd holders from the pair of initial positions to the pair of starting positions when the initial region overlaps the selected 1 receiving region.

19. The method of sorting a shipment according to claim 18,

the direction in which the 1 st holder and the 2 nd holder move from the pair of initial positions to the pair of start positions is the same direction along the moving path.

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